Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268797
J. Huber, V. Graefe
A method allowing a mobile robot to measure accurately its distance from external objects is introduced. It requires only a single uncalibrated camera and a dynamic vision system. The method was evaluated in an optical laboratory and also in outdoor experiments. Even in outdoor-experiments with a vehicle moving at a speed of 30 km/h, errors of less than 1% of the true distance were achieved in real time.<>
{"title":"Motion stereo for mobile robots","authors":"J. Huber, V. Graefe","doi":"10.1109/ISIE.1993.268797","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268797","url":null,"abstract":"A method allowing a mobile robot to measure accurately its distance from external objects is introduced. It requires only a single uncalibrated camera and a dynamic vision system. The method was evaluated in an optical laboratory and also in outdoor experiments. Even in outdoor-experiments with a vehicle moving at a speed of 30 km/h, errors of less than 1% of the true distance were achieved in real time.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"310 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133178308","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268714
A. Bencsik, L. Beke
Three main topics are described in this paper. In the first part, a general description of teleoperating systems, and a consideration of the most important design issues are given. Simulation results in both the time and frequency domain of an electrohydraulic force reflecting master arm developed by the authors are presented. Finally, a technical description and specification of the system including its advantages is given.<>
{"title":"Force-reflection master arm of joystick-like structure for systems of telemanipulation","authors":"A. Bencsik, L. Beke","doi":"10.1109/ISIE.1993.268714","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268714","url":null,"abstract":"Three main topics are described in this paper. In the first part, a general description of teleoperating systems, and a consideration of the most important design issues are given. Simulation results in both the time and frequency domain of an electrohydraulic force reflecting master arm developed by the authors are presented. Finally, a technical description and specification of the system including its advantages is given.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"419 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133076309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268820
P. Mccleer, J. Lawler, B. Banerjee
Quasisquare wave back EMF PM synchronous machines an be designed such that the angular extent (in electrical degrees) of the constant voltage portion of the back EMF waveform can exceed 150 degrees or more. In a five phase machine with voltage source drive each phase winding is nominally driven for only 144 degrees in each polarity. Thus there is an overlap period for these machines in which phase winding currents can be commutated while the phase winding back EMFs are constant. The torque notch suppression control scheme described functions during this constant back EMF overlap period. The difference of the drive voltages presented to the terminals of the incoming (turn-on) phase and the outgoing (turn-off) phase is held at a value needed to insure complete commutation of the outgoing phase within the overlap period. The sum of these two drive voltages is held constant at the precommutation value to insure constant torque production. The individual drive voltages presented to the remaining three phases of the machine are also held constant during the commutation period. Typical waveforms and switching speed requirements are presented and discussed.<>
{"title":"Torque notch minimization for five phase quasi square wave back EMF PM synchronous motors with voltage source drives","authors":"P. Mccleer, J. Lawler, B. Banerjee","doi":"10.1109/ISIE.1993.268820","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268820","url":null,"abstract":"Quasisquare wave back EMF PM synchronous machines an be designed such that the angular extent (in electrical degrees) of the constant voltage portion of the back EMF waveform can exceed 150 degrees or more. In a five phase machine with voltage source drive each phase winding is nominally driven for only 144 degrees in each polarity. Thus there is an overlap period for these machines in which phase winding currents can be commutated while the phase winding back EMFs are constant. The torque notch suppression control scheme described functions during this constant back EMF overlap period. The difference of the drive voltages presented to the terminals of the incoming (turn-on) phase and the outgoing (turn-off) phase is held at a value needed to insure complete commutation of the outgoing phase within the overlap period. The sum of these two drive voltages is held constant at the precommutation value to insure constant torque production. The individual drive voltages presented to the remaining three phases of the machine are also held constant during the commutation period. Typical waveforms and switching speed requirements are presented and discussed.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124558297","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268736
K. Aliouane, S. Saadate, B. Davat
Harmonics generated by power converters have become a serious problem for the AC mains as they can only be removed by using bulky passive filters. Besides, harmonic compensation by shunt passive or active filters causes undesirable interference such as resonance with the AC mains. To solve this problem, the authors have proposed a combined system of a shunt passive and series active filter. This system is self-adaptable and only a small power active filter is needed to compensate the harmonics generated by large converters. The control algorithm of the active filter is based on instantaneous active and reactive power calculations. A combined system is used to minimise harmonic currents and voltage in the AC systems. Here, the authors demonstrate that the study of a three phase system can be realized by using a single phase equivalent circuit when the line currents are balanced. The series active filter plays the role of an active impedance. This means that it presents a negligible impedance for the fundamental frequency and a pure resistance for the harmonics.<>
{"title":"Analytical study and numerical simulation of combined voltage source series active and shunt passive filters","authors":"K. Aliouane, S. Saadate, B. Davat","doi":"10.1109/ISIE.1993.268736","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268736","url":null,"abstract":"Harmonics generated by power converters have become a serious problem for the AC mains as they can only be removed by using bulky passive filters. Besides, harmonic compensation by shunt passive or active filters causes undesirable interference such as resonance with the AC mains. To solve this problem, the authors have proposed a combined system of a shunt passive and series active filter. This system is self-adaptable and only a small power active filter is needed to compensate the harmonics generated by large converters. The control algorithm of the active filter is based on instantaneous active and reactive power calculations. A combined system is used to minimise harmonic currents and voltage in the AC systems. Here, the authors demonstrate that the study of a three phase system can be realized by using a single phase equivalent circuit when the line currents are balanced. The series active filter plays the role of an active impedance. This means that it presents a negligible impedance for the fundamental frequency and a pure resistance for the harmonics.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128986010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268746
M. Guzelkaya, S. Kurtulan, L. Goren
A method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remain are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is attempted to be removed by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.<>
{"title":"A deadbeat trajectory controller for nonlinear systems via neural network: a robot case study","authors":"M. Guzelkaya, S. Kurtulan, L. Goren","doi":"10.1109/ISIE.1993.268746","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268746","url":null,"abstract":"A method for trajectory control of nonlinear systems is presented. Nonlinear feedback is used in order to obtain a linear model, and the nonlinearities and uncertainties remain are modelled by a multilayer neural network. The tracking error between the nonlinear system output and a desired trajectory is attempted to be removed by a deadbeat controller. The algorithm is applied to the trajectory control of a robot arm.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117091584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268770
A. Weaver, R. Simoncic
Factory communications in the 1990s have all the complexity of full-fledged distributed systems. While emerging standards such as Fieldbus solve the interconnection problem, in general they do not address the more general problem of reliable, transparent communication among cooperating, distributed applications. These new applications are known to require network layer and transparent layer services to achieve reliable end-to-end communication across an arbitrary network topology. The Xpress Transfer Protocol is designed to solve this problem by providing increased functionality and performance in the general area of real-time systems control.<>
{"title":"Computer communications for factory automation","authors":"A. Weaver, R. Simoncic","doi":"10.1109/ISIE.1993.268770","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268770","url":null,"abstract":"Factory communications in the 1990s have all the complexity of full-fledged distributed systems. While emerging standards such as Fieldbus solve the interconnection problem, in general they do not address the more general problem of reliable, transparent communication among cooperating, distributed applications. These new applications are known to require network layer and transparent layer services to achieve reliable end-to-end communication across an arbitrary network topology. The Xpress Transfer Protocol is designed to solve this problem by providing increased functionality and performance in the general area of real-time systems control.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115531323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268744
P. Raja, J. Hernandez, J. Decotignie, G. Noubir
Fieldbus is a real-time network intended to be employed in the lowest hierarchy level of factory automation. In this paper, the authors give an overview of a typical Fieldbus application. They then describe the flux instrumentation protocol and a modified version of this protocol. They analyse these protocols with respect to two aspects, namely protocol efficiency and protocol robustness.<>
{"title":"Design and implementation of a robust Fieldbus protocol","authors":"P. Raja, J. Hernandez, J. Decotignie, G. Noubir","doi":"10.1109/ISIE.1993.268744","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268744","url":null,"abstract":"Fieldbus is a real-time network intended to be employed in the lowest hierarchy level of factory automation. In this paper, the authors give an overview of a typical Fieldbus application. They then describe the flux instrumentation protocol and a modified version of this protocol. They analyse these protocols with respect to two aspects, namely protocol efficiency and protocol robustness.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"306 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115637174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268720
P. Tyni, R. Parkkinen
Attempts are made to make the structure and control system of a robot as simple as possible in terms of control system software by utilizing a mechatronic approach. The robot concerned can be used to produce linear motion in relation to three shafts or circular motion in relation to two shafts. Since the drive is achieved with stepping motors, the positioning of the robot is based on calculation of their steps. All three motors are controlled by one microcontroller, which has been developed specifically for sophisticated machines and devices in particular. The linear interpolation of movements was implemented on a new principle made possible on account of the properties of the controller. The advantage of the method is that it reduces the load on the processor, which leads to greater speeds while maintaining a high standard of accuracy.<>
{"title":"A 3-DOF stepping motor robot controlled by a microcontroller","authors":"P. Tyni, R. Parkkinen","doi":"10.1109/ISIE.1993.268720","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268720","url":null,"abstract":"Attempts are made to make the structure and control system of a robot as simple as possible in terms of control system software by utilizing a mechatronic approach. The robot concerned can be used to produce linear motion in relation to three shafts or circular motion in relation to two shafts. Since the drive is achieved with stepping motors, the positioning of the robot is based on calculation of their steps. All three motors are controlled by one microcontroller, which has been developed specifically for sophisticated machines and devices in particular. The linear interpolation of movements was implemented on a new principle made possible on account of the properties of the controller. The advantage of the method is that it reduces the load on the processor, which leads to greater speeds while maintaining a high standard of accuracy.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126042913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268821
Andrew Shakal, Yuefeng Liao, T. Lipo
New doubly salient machines in which the field excitation is developed by stationary or mounted permanent magnets has recently been undergoing development at the University of Wisconsin. Because of the unique geometry of the stator, these permanent magnets are readily accessible. Therefore, for experimental purposes, simple iron blocks are used to 'short' a large portion of the permanent magnet flux and thus reduce the back EMF developed within the machine. However, for practical applications, field weakening schemes involving miniature linear actuators or high torque stepper motors are being explored. Preliminary experimental results show that a substantial reduction in the back EMF can be readily obtained thus lending credibility to the concept of weakening fields produced by stationary permanent magnets.<>
{"title":"A permanent magnet AC machine structure with true field weakening capability","authors":"Andrew Shakal, Yuefeng Liao, T. Lipo","doi":"10.1109/ISIE.1993.268821","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268821","url":null,"abstract":"New doubly salient machines in which the field excitation is developed by stationary or mounted permanent magnets has recently been undergoing development at the University of Wisconsin. Because of the unique geometry of the stator, these permanent magnets are readily accessible. Therefore, for experimental purposes, simple iron blocks are used to 'short' a large portion of the permanent magnet flux and thus reduce the back EMF developed within the machine. However, for practical applications, field weakening schemes involving miniature linear actuators or high torque stepper motors are being explored. Preliminary experimental results show that a substantial reduction in the back EMF can be readily obtained thus lending credibility to the concept of weakening fields produced by stationary permanent magnets.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121688566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1993-06-01DOI: 10.1109/ISIE.1993.268768
S. Hwang, D.G.M. Mostafa
The objective of this paper is to present a method of inspecting electrical characteristics for a printed circuit board (PCB) on a manufacturing assembly line. The inspection is facilitated by the use of two robots, a simple laboratory-made vision system, a linear conveyor transfer belt, a general purpose interface bus system, and a personal computer. The result indicates that this system is more efficient, economical, and accurate than human-operated systems.<>
{"title":"Flexible inspection system for a PC board assembly line","authors":"S. Hwang, D.G.M. Mostafa","doi":"10.1109/ISIE.1993.268768","DOIUrl":"https://doi.org/10.1109/ISIE.1993.268768","url":null,"abstract":"The objective of this paper is to present a method of inspecting electrical characteristics for a printed circuit board (PCB) on a manufacturing assembly line. The inspection is facilitated by the use of two robots, a simple laboratory-made vision system, a linear conveyor transfer belt, a general purpose interface bus system, and a personal computer. The result indicates that this system is more efficient, economical, and accurate than human-operated systems.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123164298","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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